Massage method and device and massage equipment

Abstract

The invention provides a massage method and device and massage equipment, and relates to the technical field of intelligent health equipment and human body posture estimation.The method comprises the steps that a three-dimensional model of a target area is generated based on image data of the target area; the target area is a to-be-massaged area of the user; the coordinate system of the three-dimensional model is a human body model coordinate system; converting a first coordinate of the massage head in an equipment coordinate system of the massage equipment into a second coordinate of the massage head in a human body model coordinate system; controlling the massage head to massage the target acupoint based on the second coordinate of the massage head; the target acupoints are to-be-massaged acupoints in the human body model coordinate system. According to the technical scheme, the massage effect of the massage equipment can be improved.

Description

Technical Field

[0001] This application relates to the field of intelligent health devices and human posture estimation technology, and in particular to a massage method, device and massage equipment. Background Technology

[0002] Massage has the therapeutic effects of relieving muscle pain, alleviating muscle stiffness, and improving blood circulation. In recent years, the use of mechanical equipment to simulate manual massage techniques such as kneading and rubbing has received increasing attention and application.

[0003] Existing massage devices are usually based on timed or fixed programs, which can easily lead to massage parameters deviating from actual needs, thus affecting the massage effect. Summary of the Invention

[0004] In view of this, embodiments of this application provide a massage method, apparatus, and massage device to improve the massage effect of the massage device.

[0005] To achieve the above objectives, in a first aspect, embodiments of this application provide a massage method applied to a massage device, the method comprising: Based on the image data of the target area, a three-dimensional model of the target area is generated; the target area is the area to be massaged by the user; the coordinate system of the three-dimensional model is the human body model coordinate system. Transform the first coordinate of the massage head in the device coordinate system of the massage device into the second coordinate of the massage head in the human body model coordinate system; The massage head is controlled to massage the target acupoint based on the second coordinate of the massage head; the target acupoint is the acupoint to be massaged in the human body model coordinate system.

[0006] The massage method provided in this application embodiment can generate a personalized three-dimensional model for the user's area to be massaged, and transform the coordinates of the massage head into the coordinates of the human body model coordinate system. This allows control over the position of the massage head in the human body model coordinate system to massage the target acupoints.

[0007] In one possible implementation of the first aspect, controlling the massage head to massage the target acupoint includes: The position of the massage head is controlled so that the coordinates of the target acupoint are located within the search area of ​​the massage head.

[0008] The above-described implementation method enables the massage head to effectively massage target acupoints and improves massage accuracy.

[0009] In one possible implementation of the first aspect, the massage head massages along a circular motion trajectory, and the center of the search area is the center of the motion trajectory of the massage head; The radius of the search area is the sum of the radius of the motion trajectory and the radius of the massage head; or, the radius of the search area is the sum of the radius of the motion trajectory, the radius of the massage head, and the effective radius of the target acupoint.

[0010] In one possible implementation of the first aspect, the method further includes, before controlling the position of the massage head: Based on the second coordinates of the massage head, determine the target orientation of the massage head relative to the center line of the three-dimensional model; Based on the second coordinates, the target acupoint is searched from the acupoint coordinates of the target location.

[0011] The above implementation method can accelerate the search speed of the massage head, thereby improving the response speed of the massage device.

[0012] In one possible implementation of the first aspect, controlling the massage head to massage the target acupoint includes: If the coordinates of the target acupoint are detected to be outside the search area, the position of the massage head is adjusted to update the second coordinates so that the target acupoint is within the search area.

[0013] The above-described implementation methods can improve the massage precision and effectiveness of massage equipment.

[0014] In one possible implementation of the first aspect, a three-dimensional model of the target region is generated using a neural network model.

[0015] In one possible implementation of the first aspect, a three-dimensional model of the target region is generated using a multi-view stereo vision algorithm.

[0016] In one possible implementation of the first aspect, the coordinate system transformation of the massage head is achieved based on a spatial registration algorithm.

[0017] Secondly, embodiments of this application provide a massage device, the device comprising: The generation module is used to generate a three-dimensional model of the target area based on the image data of the target area; the target area is the area to be massaged by the user; the coordinate system of the three-dimensional model is the human body model coordinate system; The mapping module is used to transform the first coordinate of the massage head in the device coordinate system of the massage device into the second coordinate of the massage head in the human body model coordinate system; The control module is used to control the massage head to massage the target acupoint based on the second coordinate of the massage head; the target acupoint is the acupoint to be massaged in the human body model coordinate system.

[0018] In one possible implementation of the second aspect, the control module is specifically used for: The position of the massage head is controlled so that the coordinates of the target acupoint are located within the search area of ​​the massage head.

[0019] In one possible implementation of the second aspect, the massage head massages along a circular motion trajectory, and the center of the search area is the center of the motion trajectory of the massage head; The radius of the search area is the sum of the radius of the motion trajectory and the radius of the massage head; or, the radius of the search area is the sum of the radius of the motion trajectory, the radius of the massage head, and the effective radius of the target acupoint.

[0020] In one possible implementation of the second aspect, the device further includes a search module, the search module being used for: Before controlling the position of the massage head, the target orientation of the massage head relative to the center line of the three-dimensional model is determined according to the second coordinate of the massage head; Based on the second coordinates, the target acupoint is searched from the acupoint coordinates of the target location.

[0021] In one possible implementation of the second aspect, the control module is further configured to: If the coordinates of the target acupoint are detected to be outside the search area, the position of the massage head is adjusted to update the second coordinates so that the target acupoint is within the search area.

[0022] In one possible implementation of the second aspect, a neural network model is used to generate a three-dimensional model of the target region.

[0023] In one possible implementation of the second aspect, a three-dimensional model of the target region is generated using a multi-view stereo vision algorithm.

[0024] In one possible implementation of the second aspect, the coordinate system transformation of the massage head is achieved based on a spatial registration algorithm.

[0025] Thirdly, embodiments of this application provide a massage device, including: a memory and a processor, wherein the memory is used to store a computer program; and the processor is used to execute the method described in the first aspect or any embodiment of the first aspect when the computer program is invoked.

[0026] Fourthly, embodiments of this application provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method described in the first aspect or any embodiment of the first aspect.

[0027] Fifthly, embodiments of this application provide a computer program product that, when run on a massage device, causes the massage device to perform the massage method described in any one of the first aspects.

[0028] The technical solution provided in this application embodiment can generate a three-dimensional model of the area to be massaged based on image data of the area to be massaged. The coordinate system of the three-dimensional model is the human body model coordinate system, so that a corresponding personalized model can be generated for each user. Then, the first coordinate of the massage head in the device coordinate system of the massage device can be transformed into the second coordinate of the massage head in the human body model coordinate system to eliminate unit difference and rigidity difference. Then, the massage head can be controlled to massage the target acupoints based on the second coordinate of the massage head. By generating a personalized three-dimensional model of the area to be massaged for the user and adjusting the second coordinate of the massage head, the massage head can accurately massage the target acupoints, thereby improving the massage effect of the massage device. Attached Figure Description

[0029] Figure 1 A schematic flowchart illustrating the massage method provided in an embodiment of this application; Figure 2 A schematic diagram illustrating the process of target acupoint search provided in an embodiment of this application; Figure 3 This is a schematic diagram of the structure of the massage device provided in the embodiments of this application; Figure 4 This is a schematic diagram of the structure of the massage device provided in the embodiment of this application. Detailed Implementation

[0030] The embodiments of this application are described below with reference to the accompanying drawings. The terminology used in the implementation section of this application is only for explaining specific embodiments and is not intended to limit the application. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments.

[0031] With the development of smart health devices, massage devices based on fixed programs or simple pressure sensors cannot accurately obtain the relative position of the massage head and acupoints on the human body, nor can they adapt to the differences in body shape among different users. As a result, the massage head cannot effectively massage the acupoints, affecting the massage effect.

[0032] In view of this, embodiments of this application provide a massage method that can solve the problems of inaccurate acupoint positioning and inability to adapt to individual differences in existing massage devices, thereby achieving personalized and precise acupoint massage. In embodiments of this application, the massage device can be a full-body massage device or a local massage device.

[0033] The technical solutions of the embodiments of this application will be described by way of example below with reference to the accompanying drawings.

[0034] Figure 1 This is a schematic flowchart illustrating the massage method provided in an embodiment of this application. Figure 1 As shown, the massage method may include the following steps: Step S110: Generate a three-dimensional model of the target area based on the image data of the target area.

[0035] For ease of understanding, taking a neck massager as an example and the neck area as the target area, a user can use an image acquisition device to take pictures around the neck to collect image data. The image acquisition device can be a terminal device with photo and video recording capabilities; for example, it can be a mobile terminal (such as a smartphone). For instance, a user can use their phone to take multiple images from different angles around the neck, such as 20-200 images. Adjacent images may share a common visible area, facilitating subsequent feature point matching. The user can also record a video of a target duration, such as 5-10 seconds, to obtain video data.

[0036] In some embodiments, for video, frames can be extracted to obtain images. The number of images captured and the video duration can be selected according to actual needs, and this application embodiment does not impose any particular limitations on this. In some embodiments, to simplify the structure, the image acquisition device can also be integrated into the massage device.

[0037] After obtaining the image data, a sparse point cloud can be generated based on the image data. Point cloud data is a collection of a large number of spatial points in three-dimensional space, which can be used to characterize the geometric shape of the outer surface of objects in a scene. In this embodiment, the coordinate system of the point cloud data can be defined as the human body model coordinate system.

[0038] In one alternative implementation, a multi-view stereo vision algorithm can be used, which can reconstruct a 3D model of a target region based on image data captured from multiple angles. The multi-view stereo vision algorithm may include multiple sub-algorithms, such as Structure from Motion (SFM) and Multiple View Stereo (MVS) algorithms.

[0039] For example, a sparse point cloud of the neck and the camera pose can be obtained from multiple captured images using a structure from motion (SFM).

[0040] Specifically, two-dimensional feature extraction and matching can be performed on images to match the same point in different images. The number of feature points extracted from each image can be hundreds or thousands; for example, 500 to 5000 feature points are typically extracted per image, and the specific number can be selected according to user needs. By matching feature points in multi-angle images, the relative pose of the camera when the image was captured can be obtained. Through triangulation, the projection positions of the same feature point in different images are used to deduce the coordinates of the feature point in three-dimensional space, thus obtaining a sparse point cloud with a spatial point count ranging from 10,000 to 1 million.

[0041] After obtaining the sparse point cloud and the camera pose, a dense point cloud can be generated based on the sparse point cloud and the camera pose. Optionally, the dense point cloud can be generated using a Multiple View Stereo (MVS) algorithm.

[0042] Based on the camera pose, the pixel-level depth of each image is calculated. By matching pixels between images from multiple perspectives, frustum consistency is determined, the 3D coordinates of each pixel are inferred, and then a dense 3D scene is reconstructed from images from multiple perspectives to obtain a dense point cloud.

[0043] Compared to sparse point clouds, dense point clouds contain a much larger number of spatial points (usually in the millions to tens of millions), thus enabling more detailed depiction of the geometric details and surface morphology of the target area, resulting in higher spatial resolution and model fidelity.

[0044] Based on dense point clouds, point cloud meshing techniques can be used for mesh reconstruction to obtain triangular mesh models. The triangular meshes generated by mesh reconstruction typically contain hundreds of thousands to millions of vertices, which can adequately represent the geometric details of the neck surface. In some embodiments, Poisson Surface Reconstruction can be used to obtain smooth, closed, and complete high-quality triangular meshes. In some embodiments, Delaunay triangulation can also be used to preserve local geometric details, resulting in sharper triangular meshes.

[0045] Understandably, Poisson reconstruction can be combined with Delaunay triangulation to enhance the preservation of local geometric details while ensuring the overall closure and integrity of the mesh.

[0046] After mesh reconstruction, color and texture mapping can be performed on the reconstructed triangular mesh model. Specifically, the 3D triangular mesh can be unfolded into a 2D planar parametric domain (UV Unwrapping) to facilitate texture rendering. Then, the color information of each image can be mapped to the corresponding UV region, and all mapped color information can be integrated to generate a continuous, seamless texture map. The pixel range of the texture map can be from 2048px to 8192px, thus achieving high-fidelity color and detail mapping. By attaching this map to the surface of the triangular mesh model, the model surface can exhibit rich details and realistic colors. Next, normal mapping can be performed on the triangular mesh model. Normal mapping can represent the geometric direction of the model and increase its bumpiness. Normal mapping can use a game engine to implement per-pixel lighting calculations to change the way light interacts with the surface, thereby creating an uneven appearance.

[0047] In some embodiments, the 3D reconstruction process based on multi-view stereo vision can generate multiple resource files. For example, it can generate a diffuse.png file containing color and texture information, a normal.png file containing normal map information, a roughness / ao.png file containing optional texture enhancement effects, and model.glb / glTF files for efficient storage of model information that can be used in terminal applets. Generating resource files facilitates subsequent maintenance.

[0048] In another alternative implementation, a neural network modeling model can be used to reconstruct the 3D model.

[0049] In some embodiments, multi-angle image data captured can be input into a neural network modeling model according to the shooting sequence to obtain a three-dimensional neck model. The network architecture of the neural network modeling model can be generated based on a training set of neck data. The training set can contain more than 10,000 multi-view samples of the neck, covering users of different genders, ages, body types, and skin colors.

[0050] In some embodiments, the neural network modeling model may include multiple cascaded pre-trained deep neural network models that collaboratively reconstruct a 3D model from image data. For example, a sparse point cloud generation model can process the input multi-view images to obtain sparse point clouds and camera poses. Then, the sparse point clouds and camera poses can be used as input to a dense point cloud generation model to generate dense point clouds. Next, a mesh reconstruction model can be used to convert the dense point clouds into triangular mesh models. Further, a color texture mapping model can be used to fuse and project color information from the multi-view images onto the surface of the triangular mesh, generating seamless, high-resolution texture maps. Alternatively, a normal map generation model can be used to simulate microscopic bump details through pixel-by-pixel lighting calculations, enhancing the visual realism of the model. The architecture of the aforementioned neural network models can be, but is not limited to, convolutional neural networks, Transformer encoders, graph neural networks, etc. The specific choice depends on the input form and output requirements of each stage of the task. Of course, existing network models can also be used. For example, the sparse point cloud generation model can choose the neural incremental motion recovery structure model, and the dense point cloud generation model can choose the multi-view stereo network (MVSNet) model, etc.

[0051] In this embodiment, the acquisition of neck image data does not rely on professional 3D scanning equipment; reconstruction can be completed using only multi-view images captured by a mobile phone. The generated neck model highly corresponds to the actual geometry of the user's neck, thus enabling individualized modeling. Furthermore, the local coordinate system established during the neck model reconstruction process is defined as the human body model coordinate system. This facilitates subsequent acupoint annotation, massage head positioning, and spatial determination all within the same coordinate system, significantly improving the accuracy of acupoint positioning.

[0052] After completing the neck modeling, acupoints can be marked on the neck model. In some embodiments, acupoints can be marked through interactive user annotation. For example, the neck model can be displayed on the screen of the massage device or in a massage application on the terminal device, and the user can mark the acupoints after clicking on the corresponding location on the neck model. Taking the marking of the left Fengchi acupoint as an example, the user can click on the location of the left Fengchi acupoint on the display interface, and the massage device can record the three-dimensional coordinates of this location in the human body model coordinate system and save it as the annotation result of the left Fengchi acupoint.

[0053] In other embodiments, considering that users may lack medical expertise and have difficulty accurately identifying acupoint locations, pre-constructed standard human acupoint templates can be used to complete acupoint coordinate annotation. These standard human acupoint templates can be constructed based on meridian theory and anatomy, containing the spatial locations of all standard acupoints in the neck region. Based on these templates, non-rigid matching algorithms (such as deformation matching based on feature points or curvature) can adaptively align the template to the user's neck model, and map the coordinates of each acupoint in the template to the corresponding coordinates of the neck model through spatial transformations (including translation, rotation, and scaling), thereby completing the annotation of all acupoints in the neck and generating their three-dimensional coordinates in the human model coordinate system.

[0054] Step S120: Transform the first coordinate of the massage head in the device coordinate system of the massage device into the second coordinate of the massage head in the human body model coordinate system.

[0055] Different coordinate systems are independent of each other and may differ in scale, orientation, and origin. Therefore, a correspondence can be established through coordinate transformation. Taking a massage head as an example, the massage head is located in the coordinate system of the massage device. The first coordinate of the massage head and the coordinate of the acupoint are not in the same coordinate system, therefore the first coordinate of the massage head needs to be adjusted. The transformation (or mapping) is performed to the human body model coordinate system. The second coordinate below This allows the acupoint coordinates to be placed in the same spatial reference system, facilitating precise acupoint massage control. The primary coordinate of the massage head can be determined using the inertial measurement unit (IMU) of the massage device.

[0056] In some embodiments, coordinate transformation can be achieved using a spatial registration algorithm. Spatial registration algorithms may include, but are not limited to, the Iterated Closest Points (ICP) algorithm and the Umeyama algorithm. Taking the Umeyama algorithm as an example, the Umeyama algorithm can transform coordinates based on a set of points in the device coordinate system. The point set of the human body model coordinate system Calculate the similarity transformation parameters (rotation matrix) under the minimum coincidence error. Translation vector and uniformity scaling factor ).

[0057] Specifically, the similarity transformation can be expressed as:

[0058] in, ; R represents the uniformity scaling factor (scalar); R represents the 3×3 rotation matrix (satisfying...) and ); t represents a 3×1 translation vector.

[0059] Specifically, It can represent rigid body transformation, where, Represents the original coordinates. Represents the coordinates after a similarity transformation. Rigid body transformations can specify the order of transformations, for example, rotation before translation.

[0060] Rotation ( ) can indicate first to Perform rotation operations, rotation matrix It can capture all angular changes of the coordinate system relative to the origin. In the embodiments of this application, the rotation matrix... It can satisfy two constraints, namely orthogonality ( and determinant Orthogonality ensures that rotation does not change the length of vectors (length preservation) or the angle between vectors (orthogonality preservation). This guarantees that the object will not be stretched or compressed during transformation, reducing errors in the coordinate mapping process of the massage head. The determinant preserves the chirality of the coordinate system, thus strictly guaranteeing the purity of rotation. This allows the rotation matrix to... For special orthogonal matrices ( This improves the accuracy of coordinate transformation.

[0061] Translation ( This can be represented by adding a translation vector to the rotated coordinates. The translation vector Independent of rotation, translation describes the relative displacement between the origins of two coordinate systems. Translation moves all points in space along the same direction and by the same distance without introducing deformation or scale changes. It can solve the problem of the origins of the device coordinate system and the human body model coordinate system not coinciding. For example, when wearing a massage device, if the massage head deviates 5cm laterally to the left and 2cm vertically above the expected position relative to the user's neck model, this can be addressed by adjusting the corresponding... This allows for the correction of the massage head's position offset. Through rigid transformation, the orientation and position between coordinate systems can be aligned without altering the structure, thus correcting rigid body differences caused by device assembly, wearing posture, or user sitting posture.

[0062] In this embodiment, a uniform scaling factor is introduced to improve the alignment accuracy between the massage device coordinate system and the human body model coordinate system. This is done by applying a scaling factor to the coordinate axes to eliminate non-rigid body differences.

[0063] Taking non-rigid body differences, including differences in body proportions and sensor unit differences, as an example, differences in body proportions refer to the variations in height and weight among different users. For instance, in a standard human acupuncture point template, the lateral distance from the Fengchi acupoint to the midline of the cervical spine (the body's center line) might be 20cm, but in a smaller user, this distance might only be 10cm. A uniformity scaling factor is then introduced. This uniformity in body proportions can then be corrected. There may be a fixed proportional relationship between the distance unit output by the massage device's internal sensors (such as a stepper motor encoder, or some internal unit) and the physical length unit (e.g., millimeters or centimeters) used in the human body model coordinate system. A uniformity scaling factor can then be introduced. This unit difference can then be eliminated, achieving physical alignment.

[0064] Based on the above implementation methods, the embodiments of this application employ similarity transformation, which can simultaneously resolve rigid body differences and non-rigid body differences. This allows the first coordinate of the massage head to be accurately and robustly mapped to the second coordinate, eliminating deviations caused by body shape differences and effectively improving the accuracy of coordinate transformation.

[0065] S130, The second coordinate of the massage head controls the massage head to massage the target acupoints.

[0066] In some scenarios, the second coordinate of the massage head can be aligned with the coordinates of the target acupoint so that the massage head can massage the target acupoint.

[0067] In some embodiments, after obtaining the second coordinates of the massage head, a range search can be performed based on the second coordinates so that the coordinates of the target acupoint are within the search area of ​​the massage head. In this way, the massage head can effectively massage the target acupoint during massage, wherein the target acupoint can be the acupoint to be massaged in the human body model coordinate system.

[0068] In one optional implementation, the massage head's movement trajectory during massage can be circular. When performing a range search, the center of the search area can be the center of the massage head's movement trajectory; that is, the search area can be the smallest circumcircle of the area covered by the massage head during massage. For example, the distance between the second coordinate of the massage head and the coordinates of each acupoint on the neck model at any given time can be calculated. If this distance is less than the radius of the smallest circumcircle, the coordinates of the target acupoint can be determined to be within the search area. The radius of the smallest circumcircle can be the sum of the radius of the circular movement trajectory and the radius of the massage head. Subsequently, the position of the massage head can be controlled so that the coordinates of the target acupoint are within the search area, allowing the massage head to continuously massage the target acupoint.

[0069] For example, using the current position of the massage head in the human body model coordinate system as the query point, a nearest neighbor search is performed to obtain the distance from the massage head to each acupoint on the neck. If massaging the head and an acupoint, such as the left Fengchi acupoint, the distance between them... If the coordinates of the left Fengchi acupoint are smaller than the radius of the circumscribed circle, then the massage head can massage the left Fengchi acupoint.

[0070] In some embodiments, range searches based on a KD-tree spatial index structure can be used to reduce the number of calculations and improve real-time query speed.

[0071] Considering that if the massage head is large, it may cover multiple acupoints simultaneously, for example, the coordinates of all neck acupoints can be constructed as a KD-Tree. Using the second coordinate of the massage head in the human body model coordinate system as the query point, a range search is performed to obtain the set of acupoints. .

[0072] like If it is not empty, then it can be determined that the massage head can massage each target acupoint in the set. If If the set is not empty, it means the massage head is not within the search area. This indicates that the current position of the massage head is deviated from all acupoints, and the massage device needs to adjust the position of the massage head to update the second coordinate of the massage head so that the set is not empty.

[0073] Considering that massage heads have physical dimensions and acupoints also have functional areas, massaging the functional areas of acupoints is also effective, and in some cases, it is even safer and more effective than directly and precisely pressing the acupoints themselves.

[0074] In another alternative implementation, the massage head massages along a circular motion trajectory. The center of the search area can be the center of the motion trajectory of the massage head, and the radius of the search area can be the sum of the radius of the motion trajectory, the radius of the massage head, and the effective radius of the target acupoint.

[0075] Continuing with the example of the left Fengchi acupoint, massaging the functional area formed by the effective radius of the left Fengchi acupoint also has a stimulating effect on the acupoint. The massage head moves in a circular trajectory during massage. When the coordinates of the left Fengchi acupoint are within the search area (at which point the smallest circumcircle of the area covered by the massage head intersects with the functional area of ​​the left Fengchi acupoint), the massage head can effectively massage the left Fengchi acupoint.

[0076] The effective radius of acupoints can be set according to actual needs. For example, compared to thin people, overweight people may have larger functional areas for acupoints, so the effective radius of acupoints can be appropriately increased. In some embodiments, when labeling acupoints, the proportional relationship between the user's neck model and the neck area corresponding to the standard human acupoint template can be determined. Based on the standard effective radius and this proportional relationship, the effective radius of acupoints for overweight people can be determined, and the search area can be adjusted accordingly.

[0077] In some embodiments, before controlling the position of the massage head, such as Figure 2 As shown, steps S210 and S220 can also be performed.

[0078] Step S210: Determine the target orientation of the massage head relative to the center line of the three-dimensional model based on the second coordinate of the massage head.

[0079] Continuing with the example of a 3D neck model, acupoints in the human body are typically symmetrical. For instance, the left Fengchi (GB20) and left Jianjing (GB21) acupoints are located on the left side of the body, while the right Fengchi (GB20) and right Jianjing (GB21) acupoints are located on the right side. Correspondingly, the orientation can include the left and right sides. In some embodiments, the acupoint set of the neck model can be spatially divided based on the center line of the neck model, forming two independent acupoint subsets: the left acupoint group and the right acupoint group. The center line of the neck model can be determined by the coordinates of the Dazhui (GV14) acupoint.

[0080] For the aforementioned bilateral acupoint subsets, three-dimensional spatial index structures are constructed respectively. and .in, It facilitates quick location of acupoints on the left side. It allows for quick lookup of acupoints on the right side.

[0081] After determining the second coordinate of the massage head, the x-coordinate of the second coordinate can be used to determine whether the massage head is located on the left or right side of the neck model.

[0082] Step S220: Based on the second coordinate, search for the target acupoint from the acupoint coordinates of the target location.

[0083] After determining the target location of the massage head based on the second coordinate, taking the target location as the left as an example, we can only query the acupoints in the left-side subset to determine whether the massage head is within the effective massage range corresponding to the target acupoint. This can halve the search space and further improve the real-time query speed.

[0084] In some embodiments, when the target acupoint remains within the search area of ​​the massage head for more than a set time threshold (e.g., 5 consecutive seconds), and the pressure sensor on the massage device consistently maintains a stable high pressure range, it can be determined that the massage head is massaging the target acupoint. If a shift in the second coordinate of the massage head is detected, the massage device can adjust the translation vector. This allows for online adaptive error correction. For example, this can be achieved by calculating the theoretical coordinate vector of the target acupoint. Average coordinate vector of the actual massage location The residual vector between ( This quantifies the spatial deviation between the actual massage points of the massage head and the theoretical massage points (before any shift occurs). The magnitude and direction of the error can be determined from the residual vector, allowing the translation vector to be adjusted accordingly. Adjustments should be made to avoid a decrease in the massage effect of acupoints due to improper wearing or changes in posture.

[0085] In some embodiments, when the massage head massages the target acupoint, the massage device can compensate for the pressure sensor feedback value and massage frequency when the pressure sensor feedback value and frequency increase or decrease, so that the massage head can provide the user with a stable pressure and massage frequency, thereby improving the user experience.

[0086] The technical solution provided in this application can generate a three-dimensional model of the area to be massaged based on image data of the area to be massaged. The coordinate system of the three-dimensional model is the human body model coordinate system. This allows for the generation of a personalized model for each user. Then, the first coordinate of the massage head in the device coordinate system of the massage device can be transformed into the second coordinate of the massage head in the human body model coordinate system to eliminate non-rigid and rigid differences. Then, the massage head can be controlled to massage the target acupoints based on the second coordinate of the massage head. Therefore, regardless of the user's height or weight, this technical solution can achieve acupoint alignment, significantly improving the massage effect of the massage device.

[0087] Those skilled in the art will understand that the above embodiments are exemplary and not intended to limit this application. Where possible, the execution order of one or more of the above steps can be adjusted, or they can be selectively combined to obtain one or more other embodiments. Those skilled in the art can arbitrarily select and combine the above steps as needed, and all those that do not depart from the essence of this application fall within the protection scope of this application.

[0088] Based on the same inventive concept, as an implementation of the above method, this application provides a massage device. This device embodiment corresponds to the aforementioned method embodiment. For ease of reading, this device embodiment will not repeat the details of the aforementioned method embodiment one by one, but it should be clear that the device in this embodiment can correspondingly implement all the contents of the aforementioned method embodiment.

[0089] Figure 3 This is a schematic diagram of the structure of the massage device provided in the embodiments of this application, as shown below. Figure 3 As shown, the apparatus provided in this embodiment includes: The generation module 110 is used to generate a three-dimensional model of the target area based on the image data of the target area; the target area is the area to be massaged by the user; the coordinate system of the three-dimensional model is the coordinate system of the human body model. The mapping module 120 is used to transform the first coordinate of the massage head in the device coordinate system of the massage device into the second coordinate of the massage head in the human body model coordinate system; The control module 130 is used to control the massage head to massage the target acupoint based on the second coordinate of the massage head; the target acupoint is the acupoint to be massaged in the human body model coordinate system.

[0090] In one possible implementation, the control module 130 is specifically used for: The position of the massage head is controlled so that the coordinates of the target acupoint are located within the search area of ​​the massage head.

[0091] In one possible implementation, the massage head massages along a circular motion trajectory, with the center of the search area being the center of the massage head's motion trajectory. The radius of the search area is the sum of the radius of the motion trajectory and the radius of the massage head; or, the radius of the search area is the sum of the radius of the motion trajectory, the radius of the massage head, and the effective radius of the target acupoint.

[0092] In one possible implementation, the massage device further includes a search module 140, which is used for: Before controlling the position of the massage head, the target orientation of the massage head relative to the center line of the three-dimensional model is determined based on the second coordinate of the massage head. Based on the second coordinate, the target acupoint is searched from the acupoint coordinates of the target location.

[0093] In one possible implementation, the control module 130 is further configured to: If the coordinates of the target acupoint are detected to be outside the search area, the position of the massage head is adjusted to update the second coordinates so that the target acupoint is within the search area.

[0094] In one possible implementation, a neural network model is used to generate a three-dimensional model of the target region.

[0095] In one possible implementation, a three-dimensional model of the target region is generated using a multi-view stereo vision algorithm.

[0096] In one possible implementation, the coordinate system transformation of the massage head is achieved based on a spatial registration algorithm.

[0097] The massage device provided in this embodiment can perform the above-described method embodiment, and its implementation principle and technical effect are similar, so they will not be described again here.

[0098] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0099] Based on the same inventive concept, this application also provides a massage device. Figure 4 This is a schematic diagram of the structure of the massage device provided in the embodiments of this application, such as... Figure 4 As shown, the massage device provided in this embodiment includes a memory 210 and a processor 220. The memory 210 is used to store computer programs; the processor 220 is used to execute the method described in the above method embodiment when the computer program is invoked.

[0100] The massage device provided in this embodiment can perform the above-described method embodiment, and its implementation principle and technical effect are similar, so they will not be described again here.

[0101] This application also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the methods described in the above-described method embodiments.

[0102] This application also provides a computer program product that, when run on a massage device, causes the massage device to implement the method described in the above-described method embodiments.

[0103] In the above embodiments, implementation can be achieved entirely or partially through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented entirely or partially as a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted through the computer-readable storage medium. The computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, or magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., a solid-state drive (SSD)).

[0104] Those skilled in the art will understand that implementing all or part of the processes in the above embodiments can be accomplished by a computer program instructing related hardware. This program can be stored in a computer-readable storage medium, and when executed, it can include the processes described in the above method embodiments. The aforementioned storage medium can include various media capable of storing program code, such as ROM or random access memory (RAM), magnetic disks, or optical disks.

[0105] The naming or numbering of steps in this application does not mean that the steps in the method flow must be executed in the time / logical order indicated by the naming or numbering. The execution order of the named or numbered process steps can be changed according to the technical purpose to be achieved, as long as the same or similar technical effect can be achieved.

[0106] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0107] In the embodiments provided in this application, it should be understood that the disclosed apparatus / devices and methods can be implemented in other ways. For example, the apparatus / device embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0108] It should be understood that, when used in this application specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or a collection thereof.

[0109] In the description of this application, unless otherwise stated, " / " indicates that the objects before and after are in an "or" relationship. For example, A / B can mean A or B. "And / or" in this application is merely a description of the relationship between the related objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist simultaneously, and B exists alone. A and B can be singular or plural.

[0110] Furthermore, in the description of this application, unless otherwise stated, "multiple" means two or more. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c can mean: a, b, c, ab, ac, bc, or abc, where a, b, and c can be single or multiple.

[0111] As used in this application specification and the appended claims, the term "if" may be interpreted, depending on the context, as "when," "once," "in response to determination," or "in response to detection." Similarly, the phrase "if determined" or "if detected [the described condition or event]" may be interpreted, depending on the context, as meaning "once determined," "in response to determination," "once detected [the described condition or event]," or "in response to detection [the described condition or event]."

[0112] Furthermore, in the description of this application and the appended claims, the terms "first," "second," "third," etc., are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments described herein can be implemented in a sequence other than that illustrated or described herein.

[0113] References to "one embodiment" or "some embodiments" in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized.

[0114] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A massage method, characterized in that, Applied to a massage device, the method includes: Based on the image data of the target area, a three-dimensional model of the target area is generated; the target area is the area to be massaged by the user; the coordinate system of the three-dimensional model is the human body model coordinate system. Transform the first coordinate of the massage head in the device coordinate system of the massage device into the second coordinate of the massage head in the human body model coordinate system; The massage head is controlled to massage the target acupoint based on the second coordinate of the massage head; the target acupoint is the acupoint to be massaged in the human body model coordinate system.

2. The method according to claim 1, characterized in that, The control of the massage head to massage the target acupoint includes: The position of the massage head is controlled so that the coordinates of the target acupoint are located within the search area of ​​the massage head.

3. The method according to claim 2, characterized in that, The massage head massages along a circular motion trajectory, and the center of the search area is the center of the motion trajectory of the massage head; The radius of the search area is the sum of the radius of the motion trajectory and the radius of the massage head; or, the radius of the search area is the sum of the radius of the motion trajectory, the radius of the massage head, and the effective radius of the target acupoint.

4. The method according to claim 2, characterized in that, Before controlling the position of the massage head, the method further includes: Based on the second coordinates of the massage head, determine the target orientation of the massage head relative to the center line of the three-dimensional model; Based on the second coordinates, the target acupoint is searched from the acupoint coordinates of the target location.

5. The method according to claim 2, characterized in that, Controlling the massage head to massage the target acupoints includes: If the coordinates of the target acupoint are detected to be outside the search area, the position of the massage head is adjusted to update the second coordinates so that the target acupoint is within the search area.

6. The method according to claim 1, characterized in that, The 3D model is generated using a neural network model or a multi-view stereo vision algorithm.

7. The method according to any one of claims 1-6, characterized in that, The coordinate system transformation of the massage head is achieved based on a spatial registration algorithm.

8. A massage device, characterized in that, include: The generation module is used to generate a three-dimensional model of the target region based on the image data of the target region; The target area is the area to be massaged for the user. The coordinate system of the three-dimensional model is the human body model coordinate system; The mapping module is used to transform the first coordinate of the massage head in the device coordinate system of the massage device into the second coordinate of the massage head in the human body model coordinate system; The control module is used to control the massage head to massage the target acupoints based on the second coordinate of the massage head; The target acupoint is the acupoint to be massaged in the coordinate system of the human body model.

9. A massage device, characterized in that, include: A memory and a processor, the memory being used to store a computer program; the processor being used to execute the method as described in any one of claims 1-7 when the computer program is invoked.

10. A computer program product, characterized in that, When the computer program product is run on the massage device, it causes the massage device to perform the method as described in any one of claims 1-7.

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